SLAM-Former: Putting SLAM into One Transformer

Yijun Yuan, Zhuoguang Chen, Kenan Li, Weibang Wang, Hang Zhao

IIIS, Tsinghua University

@article{slam-former,
      title={SLAM-Former: Putting SLAM into One Transformer}, 
      author={Yijun Yuan, Zhuoguang Chen, Kenan Li, Weibang Wang, and Hang Zhao},
      journal={arXiv preprint arXiv:2509.16909},
      year={2025}
}

Updates

• [Feb 26, 2026] Provides the training data.
• [Sep 24, 2025] Some good blogs can help you read SLAM-Former: here and here.
• [Sep 23, 2025] Preprint release.

TODO

• Code release (Under factorizing, SLAM code in one week, training code in two weeks)

Data

• Links:
  • Hugging Face (ARKitScenes, MVS-Synth, ScanNet)
  • Hugging Face (Hypersim)
  • ⏳ Hugging Face (ScanNet++, Blended-MVS, MegaDepth) - Coming soon